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<div class="header">
  <div class="summary">
<a href="classEigen_1_1Quaternion-members.html">List of all members</a> &#124;
<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pub-static-methods">Static Public Member Functions</a>  </div>
  <div class="headertitle">
<div class="title">Eigen::Quaternion&lt; Scalar_, Options_ &gt; Class Template Reference<div class="ingroups"><a class="el" href="group__Geometry__chapter.html">Geometry</a> &raquo; <a class="el" href="group__Geometry__Reference.html">Reference</a> &raquo; <a class="el" href="group__Geometry__Module.html">Geometry module</a></div></div>  </div>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><h3>template&lt;typename Scalar_, int Options_&gt;<br />
class Eigen::Quaternion&lt; Scalar_, Options_ &gt;</h3>

<p>The quaternion class used to represent 3D orientations and rotations. </p>
<p>This is defined in the Geometry module.</p><div class="fragment"><div class="line"><span class="preprocessor">#include &lt;Eigen/Geometry&gt;</span> </div>
</div><!-- fragment --><dl class="tparams"><dt>Template Parameters</dt><dd>
  <table class="tparams">
    <tr><td class="paramname">Scalar_</td><td>the scalar type, i.e., the type of the coefficients </td></tr>
    <tr><td class="paramname">Options_</td><td>controls the memory alignment of the coefficients. Can be # AutoAlign or # DontAlign. Default is AutoAlign.</td></tr>
  </table>
  </dd>
</dl>
<p>This class represents a quaternion \( w+xi+yj+zk \) that is a convenient representation of orientations and rotations of objects in three dimensions. Compared to other representations like Euler angles or 3x3 matrices, quaternions offer the following advantages: </p><ul>
<li><b>compact</b> storage (4 scalars) </li>
<li><b>efficient</b> to compose (28 flops), </li>
<li><b>stable</b> spherical interpolation</li>
</ul>
<p>The following two typedefs are provided for convenience: </p><ul>
<li><code>Quaternionf</code> for <code>float</code> </li>
<li><code>Quaterniond</code> for <code>double</code> </li>
</ul>
<dl class="section warning"><dt>Warning</dt><dd>Operations interpreting the quaternion as rotation have undefined behavior if the quaternion is not normalized.</dd></dl>
<dl class="section see"><dt>See also</dt><dd>class <a class="el" href="classEigen_1_1AngleAxis.html" title="Represents a 3D rotation as a rotation angle around an arbitrary 3D axis.">AngleAxis</a>, class <a class="el" href="classEigen_1_1Transform.html" title="Represents an homogeneous transformation in a N dimensional space.">Transform</a> </dd></dl>
</div><div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Inheritance diagram for Eigen::Quaternion&lt; Scalar_, Options_ &gt;:</div>
<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
</div>
<div id="dynsection-0-content" class="dyncontent" style="display:none;">
<div class="center"><img src="classEigen_1_1Quaternion__inherit__graph.png" border="0" usemap="#aEigen_1_1Quaternion_3_01Scalar___00_01Options___01_4_inherit__map" alt="Inheritance graph"/></div>
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<area shape="rect" href="classEigen_1_1QuaternionBase.html" title=" " alt="" coords="5,277,161,545"/>
<area shape="rect" href="classEigen_1_1RotationBase.html" title="Common base class for compact rotation representations." alt="" coords="12,5,155,229"/>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:abb9219bba515452a8ab3f9c38dd45b91"><td class="memTemplParams" colspan="2">template&lt;typename Derived1 , typename Derived2 &gt; </td></tr>
<tr class="memitem:abb9219bba515452a8ab3f9c38dd45b91"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Quaternion.html">Quaternion</a>&lt; Scalar, Options &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classEigen_1_1Quaternion.html#abb9219bba515452a8ab3f9c38dd45b91">FromTwoVectors</a> (const <a class="el" href="classEigen_1_1MatrixBase.html">MatrixBase</a>&lt; Derived1 &gt; &amp;a, const <a class="el" href="classEigen_1_1MatrixBase.html">MatrixBase</a>&lt; Derived2 &gt; &amp;b)</td></tr>
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<tr class="memitem:a03c8c147accb998913cbb8043e2a1293"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Quaternion.html">Quaternion</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Quaternion.html#a03c8c147accb998913cbb8043e2a1293">operator=</a> (<a class="el" href="classEigen_1_1Quaternion.html">Quaternion</a> &amp;&amp;other) EIGEN_NOEXCEPT_IF(std</td></tr>
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<tr class="separator:a95ec12842db82e0980e2522c7177487d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a943e557caacc45202b3e4427ffa7d5fc"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Quaternion.html#a943e557caacc45202b3e4427ffa7d5fc">Quaternion</a> (const <a class="el" href="classEigen_1_1AngleAxis.html">AngleAxisType</a> &amp;aa)</td></tr>
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<tr class="memitem:a82d58d74e9c895715b24807c9096296f"><td class="memTemplParams" colspan="2">template&lt;typename Derived &gt; </td></tr>
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<tr class="memitem:a2dc6d524146228c63297f6ddf1c8c58e"><td class="memTemplParams" colspan="2">template&lt;typename OtherScalar , int OtherOptions&gt; </td></tr>
<tr class="memitem:a2dc6d524146228c63297f6ddf1c8c58e"><td class="memTemplItemLeft" align="right" valign="top">&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classEigen_1_1Quaternion.html#a2dc6d524146228c63297f6ddf1c8c58e">Quaternion</a> (const <a class="el" href="classEigen_1_1Quaternion.html">Quaternion</a>&lt; OtherScalar, OtherOptions &gt; &amp;other)</td></tr>
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<tr class="memitem:a4f56642e3f2d9e594b627d3c7620e41a"><td class="memTemplParams" colspan="2">template&lt;class Derived &gt; </td></tr>
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<tr class="memitem:af38dbd1896bfac232d13ebd88b6f0243"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Quaternion.html#af38dbd1896bfac232d13ebd88b6f0243">Quaternion</a> (const Scalar *data)</td></tr>
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<tr class="inherit_header pub_methods_classEigen_1_1QuaternionBase"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classEigen_1_1QuaternionBase')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classEigen_1_1QuaternionBase.html">Eigen::QuaternionBase&lt; Quaternion&lt; Scalar_, Options_ &gt; &gt;</a></td></tr>
<tr class="memitem:aabef1f6fc62535f6f85d590108915ee8 inherit pub_methods_classEigen_1_1QuaternionBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1QuaternionBase.html#a974c0529d55983b0b3a6d99a8466f331">Vector3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1QuaternionBase.html#aabef1f6fc62535f6f85d590108915ee8">_transformVector</a> (const <a class="el" href="classEigen_1_1QuaternionBase.html#a974c0529d55983b0b3a6d99a8466f331">Vector3</a> &amp;v) const</td></tr>
<tr class="separator:aabef1f6fc62535f6f85d590108915ee8 inherit pub_methods_classEigen_1_1QuaternionBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a74f13d7c853484996494c26c633ae02a inherit pub_methods_classEigen_1_1QuaternionBase"><td class="memItemLeft" align="right" valign="top">internal::traits&lt; <a class="el" href="classEigen_1_1Quaternion.html">Quaternion</a>&lt; Scalar_, Options_ &gt; &gt;::<a class="el" href="classEigen_1_1RotationBase.html#a942f03c9a5bfbad71a313aee8d37887e">Scalar</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1QuaternionBase.html#a74f13d7c853484996494c26c633ae02a">angularDistance</a> (const <a class="el" href="classEigen_1_1QuaternionBase.html">QuaternionBase</a>&lt; OtherDerived &gt; &amp;other) const</td></tr>
<tr class="separator:a74f13d7c853484996494c26c633ae02a inherit pub_methods_classEigen_1_1QuaternionBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a951d627764be63ca1e8c2c4c7315e43f inherit pub_methods_classEigen_1_1QuaternionBase"><td class="memItemLeft" align="right" valign="top">internal::cast_return_type&lt; <a class="el" href="classEigen_1_1Quaternion.html">Quaternion</a>&lt; Scalar_, Options_ &gt;, <a class="el" href="classEigen_1_1Quaternion.html">Quaternion</a>&lt; NewScalarType &gt; &gt;::type&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1QuaternionBase.html#a951d627764be63ca1e8c2c4c7315e43f">cast</a> () const</td></tr>
<tr class="separator:a951d627764be63ca1e8c2c4c7315e43f inherit pub_methods_classEigen_1_1QuaternionBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae61294790c0cc308d3f69690a657672c inherit pub_methods_classEigen_1_1QuaternionBase"><td class="memItemLeft" align="right" valign="top">internal::traits&lt; <a class="el" href="classEigen_1_1Quaternion.html">Quaternion</a>&lt; Scalar_, Options_ &gt; &gt;::Coefficients &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1QuaternionBase.html#ae61294790c0cc308d3f69690a657672c">coeffs</a> ()</td></tr>
<tr class="separator:ae61294790c0cc308d3f69690a657672c inherit pub_methods_classEigen_1_1QuaternionBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a193e79f616335a0067e3e784c7cf85fa inherit pub_methods_classEigen_1_1QuaternionBase"><td class="memItemLeft" align="right" valign="top">const internal::traits&lt; <a class="el" href="classEigen_1_1Quaternion.html">Quaternion</a>&lt; Scalar_, Options_ &gt; &gt;::Coefficients &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1QuaternionBase.html#a193e79f616335a0067e3e784c7cf85fa">coeffs</a> () const</td></tr>
<tr class="separator:a193e79f616335a0067e3e784c7cf85fa inherit pub_methods_classEigen_1_1QuaternionBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5e63b775d0a93161ce6137ec0a17f6b0 inherit pub_methods_classEigen_1_1QuaternionBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Quaternion.html">Quaternion</a>&lt; <a class="el" href="classEigen_1_1RotationBase.html#a942f03c9a5bfbad71a313aee8d37887e">Scalar</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1QuaternionBase.html#a5e63b775d0a93161ce6137ec0a17f6b0">conjugate</a> () const</td></tr>
<tr class="separator:a5e63b775d0a93161ce6137ec0a17f6b0 inherit pub_methods_classEigen_1_1QuaternionBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa2d22c5b321c9539dd625ca415422236 inherit pub_methods_classEigen_1_1QuaternionBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1RotationBase.html#a942f03c9a5bfbad71a313aee8d37887e">Scalar</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1QuaternionBase.html#aa2d22c5b321c9539dd625ca415422236">dot</a> (const <a class="el" href="classEigen_1_1QuaternionBase.html">QuaternionBase</a>&lt; OtherDerived &gt; &amp;other) const</td></tr>
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<tr class="memitem:a64bc41c96a9e99567e0f8409f8f0f680 inherit pub_methods_classEigen_1_1QuaternionBase"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1QuaternionBase.html#a64bc41c96a9e99567e0f8409f8f0f680">isApprox</a> (const <a class="el" href="classEigen_1_1QuaternionBase.html">QuaternionBase</a>&lt; OtherDerived &gt; &amp;other, const RealScalar &amp;prec=<a class="el" href="structEigen_1_1NumTraits.html">NumTraits</a>&lt; <a class="el" href="classEigen_1_1RotationBase.html#a942f03c9a5bfbad71a313aee8d37887e">Scalar</a> &gt;::dummy_precision()) const</td></tr>
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<tr class="memitem:a7a487a8a129b46be562f42044102c1f8 inherit pub_methods_classEigen_1_1QuaternionBase"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1QuaternionBase.html#a7a487a8a129b46be562f42044102c1f8">normalize</a> ()</td></tr>
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<tr class="memitem:a530edf22f03853cd07ba829ea0d505dc inherit pub_methods_classEigen_1_1QuaternionBase"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1QuaternionBase.html#a530edf22f03853cd07ba829ea0d505dc">operator!=</a> (const <a class="el" href="classEigen_1_1QuaternionBase.html">QuaternionBase</a>&lt; OtherDerived &gt; &amp;other) const</td></tr>
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<tr class="memitem:ac840bde67d22f2deca330561c65d144e inherit pub_methods_classEigen_1_1QuaternionBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Quaternion.html">Quaternion</a>&lt; typename internal::traits&lt; <a class="el" href="classEigen_1_1Quaternion.html">Quaternion</a>&lt; Scalar_, Options_ &gt; &gt;::<a class="el" href="classEigen_1_1RotationBase.html#a942f03c9a5bfbad71a313aee8d37887e">Scalar</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1QuaternionBase.html#ac840bde67d22f2deca330561c65d144e">slerp</a> (const <a class="el" href="classEigen_1_1RotationBase.html#a942f03c9a5bfbad71a313aee8d37887e">Scalar</a> &amp;t, const <a class="el" href="classEigen_1_1QuaternionBase.html">QuaternionBase</a>&lt; OtherDerived &gt; &amp;other) const</td></tr>
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<tr class="memitem:a8cf07ab9875baba2eecdd62ff93bfc3f inherit pub_methods_classEigen_1_1QuaternionBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1QuaternionBase.html#ac3972e6cb0f56cccbe9e3946a7e494f8">Matrix3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1QuaternionBase.html#a8cf07ab9875baba2eecdd62ff93bfc3f">toRotationMatrix</a> () const</td></tr>
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<tr class="memitem:a91f93bde88f52796cfcd92c3594f39e5 inherit pub_methods_classEigen_1_1QuaternionBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1VectorBlock.html">VectorBlock</a>&lt; Coefficients, 3 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1QuaternionBase.html#a91f93bde88f52796cfcd92c3594f39e5">vec</a> ()</td></tr>
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<tr class="memitem:ada8bdb403471df23511bdc0f227962ea inherit pub_methods_classEigen_1_1QuaternionBase"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classEigen_1_1VectorBlock.html">VectorBlock</a>&lt; const Coefficients, 3 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1QuaternionBase.html#ada8bdb403471df23511bdc0f227962ea">vec</a> () const</td></tr>
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<tr class="inherit_header pub_methods_classEigen_1_1RotationBase"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classEigen_1_1RotationBase')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classEigen_1_1RotationBase.html">Eigen::RotationBase&lt; Derived, Dim_ &gt;</a></td></tr>
<tr class="memitem:a17e1494056ac5d1fb4d00d8488b6a0a7 inherit pub_methods_classEigen_1_1RotationBase"><td class="memItemLeft" align="right" valign="top">Derived&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1RotationBase.html#a17e1494056ac5d1fb4d00d8488b6a0a7">inverse</a> () const</td></tr>
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<tr class="memitem:a09a6df8b4801f4ec56823695c1116633 inherit pub_methods_classEigen_1_1RotationBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1RotationBase.html#a2208f5cae3e61336a9fedb4b8ad37d60">RotationMatrixType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1RotationBase.html#a09a6df8b4801f4ec56823695c1116633">matrix</a> () const</td></tr>
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<tr class="memitem:ad553de027676bded14bbed5623dbdb72 inherit pub_methods_classEigen_1_1RotationBase"><td class="memTemplParams" colspan="2">template&lt;typename OtherDerived &gt; </td></tr>
<tr class="memitem:ad553de027676bded14bbed5623dbdb72 inherit pub_methods_classEigen_1_1RotationBase"><td class="memTemplItemLeft" align="right" valign="top">internal::rotation_base_generic_product_selector&lt; Derived, OtherDerived, OtherDerived::IsVectorAtCompileTime &gt;::ReturnType&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classEigen_1_1RotationBase.html#ad553de027676bded14bbed5623dbdb72">operator*</a> (const <a class="el" href="structEigen_1_1EigenBase.html">EigenBase</a>&lt; OtherDerived &gt; &amp;e) const</td></tr>
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<tr class="memitem:a1258d0d2205a25d75f17ac947b28ef77 inherit pub_methods_classEigen_1_1RotationBase"><td class="memTemplParams" colspan="2">template&lt;int Mode, int Options&gt; </td></tr>
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Static Public Member Functions</h2></td></tr>
<tr class="memitem:a7da87cda5567ff1e860782d638643868"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classEigen_1_1Quaternion.html">Quaternion</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Quaternion.html#a7da87cda5567ff1e860782d638643868">UnitRandom</a> ()</td></tr>
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<tr class="inherit_header pub_static_methods_classEigen_1_1QuaternionBase"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classEigen_1_1QuaternionBase')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classEigen_1_1QuaternionBase.html">Eigen::QuaternionBase&lt; Quaternion&lt; Scalar_, Options_ &gt; &gt;</a></td></tr>
<tr class="memitem:a6f31a6f98016f186515b3277f4757962 inherit pub_static_methods_classEigen_1_1QuaternionBase"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classEigen_1_1Quaternion.html">Quaternion</a>&lt; <a class="el" href="classEigen_1_1RotationBase.html#a942f03c9a5bfbad71a313aee8d37887e">Scalar</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1QuaternionBase.html#a6f31a6f98016f186515b3277f4757962">Identity</a> ()</td></tr>
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<tr class="memitem:aed266c63b10a4028304901d9c8614199 inherit pub_types_classEigen_1_1QuaternionBase"><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classEigen_1_1AngleAxis.html">AngleAxis</a>&lt; <a class="el" href="classEigen_1_1RotationBase.html#a942f03c9a5bfbad71a313aee8d37887e">Scalar</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1QuaternionBase.html#aed266c63b10a4028304901d9c8614199">AngleAxisType</a></td></tr>
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<tr class="memitem:ac3972e6cb0f56cccbe9e3946a7e494f8 inherit pub_types_classEigen_1_1QuaternionBase"><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classEigen_1_1Matrix.html">Matrix</a>&lt; <a class="el" href="classEigen_1_1RotationBase.html#a942f03c9a5bfbad71a313aee8d37887e">Scalar</a>, 3, 3 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1QuaternionBase.html#ac3972e6cb0f56cccbe9e3946a7e494f8">Matrix3</a></td></tr>
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<tr class="inherit_header pub_types_classEigen_1_1RotationBase"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classEigen_1_1RotationBase')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="classEigen_1_1RotationBase.html">Eigen::RotationBase&lt; Derived, Dim_ &gt;</a></td></tr>
<tr class="memitem:a2208f5cae3e61336a9fedb4b8ad37d60 inherit pub_types_classEigen_1_1RotationBase"><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classEigen_1_1Matrix.html">Matrix</a>&lt; <a class="el" href="classEigen_1_1RotationBase.html#a942f03c9a5bfbad71a313aee8d37887e">Scalar</a>, Dim, Dim &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1RotationBase.html#a2208f5cae3e61336a9fedb4b8ad37d60">RotationMatrixType</a></td></tr>
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<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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<p>Default constructor leaving the quaternion uninitialized. </p>

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<p>Constructs and initializes the quaternion \( w+xi+yj+zk \) from its four coefficients <em>w</em>, <em>x</em>, <em>y</em> and <em>z</em>.</p>
<dl class="section warning"><dt>Warning</dt><dd>Note the order of the arguments: the real <em>w</em> coefficient first, while internally the coefficients are stored in the following order: [<code>x</code>, <code>y</code>, <code>z</code>, <code>w</code>] </dd></dl>

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<p>Constructs and initialize a quaternion from the array data </p>

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<p>Copy constructor </p>

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<p>Constructs and initializes a quaternion from the angle-axis <em>aa</em> </p>

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<p>Constructs and initializes a quaternion from either:</p><ul>
<li>a rotation matrix expression,</li>
<li>a 4D vector expression representing quaternion coefficients in the order [<code>x</code>, <code>y</code>, <code>z</code>, <code>w</code>]. </li>
</ul>

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<p>Explicit copy constructor with scalar conversion </p>

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<p>Default move constructor </p>

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<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#abb9219bba515452a8ab3f9c38dd45b91">&#9670;&nbsp;</a></span>FromTwoVectors()</h2>

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<p>Returns a quaternion representing a rotation between the two arbitrary vectors <em>a</em> and <em>b</em>. In other words, the built rotation represent a rotation sending the line of direction <em>a</em> to the line of direction <em>b</em>, both lines passing through the origin.</p>
<dl class="section return"><dt>Returns</dt><dd>resulting quaternion</dd></dl>
<p>Note that the two input vectors do <b>not</b> have to be normalized, and do not need to have the same norm. </p>

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<p>Default move assignment operator </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a7da87cda5567ff1e860782d638643868">&#9670;&nbsp;</a></span>UnitRandom()</h2>

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template&lt;typename Scalar , int Options&gt; </div>
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          <td class="memname"><a class="el" href="classEigen_1_1Quaternion.html">Quaternion</a>&lt; Scalar, Options &gt; <a class="el" href="classEigen_1_1Quaternion.html">Eigen::Quaternion</a>&lt; Scalar, Options &gt;::UnitRandom</td>
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<dl class="section return"><dt>Returns</dt><dd>a random unit quaternion following a uniform distribution law on SO(3)</dd></dl>
<dl class="section note"><dt>Note</dt><dd>The implementation is based on <a href="http://planning.cs.uiuc.edu/node198.html">http://planning.cs.uiuc.edu/node198.html</a> </dd></dl>

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